Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit

An exosuit is a wearable robot that assists the muscular strength of human wears it by using multiple wires with similar functions to muscles. This study focuses on development series elastic tendon actuator (SETA) for actuation an exosuit. A gait analysis was performed walking stairs deduce design requirements SETA, and necessary performances were then determined based these requirements. The SETA designed assign compliance rigid linear springs. deformation in springs generated during tension measured through encoder calculate interaction (HRI) force. By utilizing HRI force as feedback admittance controller, capable providing wire tensions required performance verified component (SEC) control experiments. SEC increased from 0 3.86 mm when 100 N. controller demonstrated slight vibration owing mechanical properties constituting step input; however, value gradually converged developed applied system supporting knee elderly stairs.